JP2019086410A5 - - Google Patents
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- JP2019086410A5 JP2019086410A5 JP2017214933A JP2017214933A JP2019086410A5 JP 2019086410 A5 JP2019086410 A5 JP 2019086410A5 JP 2017214933 A JP2017214933 A JP 2017214933A JP 2017214933 A JP2017214933 A JP 2017214933A JP 2019086410 A5 JP2019086410 A5 JP 2019086410A5
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すなわち、位相関係取得部４０は、励磁信号の励磁周波数成分Ｐ（ｍ）の位相角αを座標軸の回転角として取得する。なお、位相角αは、ａｒｃｔａｎ（Ｐｉ／Ｐｒ）であるが、位相角αの演算の際にはＰｒが０であっても不定とならない手法（例えば、ａｔａｎ２（Ｐｉ，Ｐｒ）等）で算出することが好ましい。以下、説明を簡略化するため、科学や工学の分野において一般的に用いられているａｔａｎ２（ｙ，ｘ）関数を使用する。なお、標準的なａｒｃｔａｎ（ｙ／ｘ）とは以下の関係がある。
ｘ＞０の場合、 ａｔａｎ２（ｙ、ｘ）＝ａｒｃｔａｎ（ｙ／ｘ）
ｙ≧０、ｘ＜０の場合、ａｔａｎ２（ｙ、ｘ）＝ａｒｃｔａｎ（ｙ／ｘ）＋π
ｙ＜０、ｘ＜０の場合、ａｔａｎ２（ｙ、ｘ）＝ａｒｃｔａｎ（ｙ／ｘ）−π
ｙ＞０、ｘ＝０の場合、ａｔａｎ２（ｙ、ｘ）＝π／２
ｙ＜０、ｘ＝０の場合、ａｔａｎ２（ｙ、ｘ）＝−π／２
ｙ＝０、ｘ＝０の場合、ａｔａｎ２（ｙ、ｘ）＝未定義
座標軸を位相角αだけ回転させた場合、図４Ａにおいて一点鎖線で示すように座標軸が回転し、実軸Ｒｅは実軸Ｒｅ'となり、虚軸Ｉｍは虚軸Ｉｍ'となる。この結果、回転後の実軸Ｒｅ'、虚軸Ｉｍ'において、励磁信号の励磁周波数成分Ｐ（ｍ）は実数部のみが残り（これをＰｒ'と表記する）、虚数部は０になる。なお、Ｐｒ'＝Ｐｒ×ｃｏｓα＋Ｐｉ×ｓｉｎαである。
That is, the phase relationship acquisition unit 40 acquires the phase angle α of the excitation frequency component P (m) of the excitation signal as the rotation angle of the coordinate axes. The phase angle α is arctan (Pi / Pr), but is calculated by a method (for example, atan2 (Pi , Pr) or the like) that does not become indefinite even if Pr is 0 when calculating the phase angle α. It is preferable to do so. Hereinafter, in order to simplify the explanation, the atan2 (y, x) function generally used in the fields of science and engineering will be used. It should be noted that it has the following relationship with the standard arctan (y / x).
When x> 0, atan2 (y, x) = arctan (y / x)
When y ≧ 0 and x <0, atan2 (y, x) = arctan (y / x) + π
When y <0, x <0, atan2 (y, x) = arctan (y / x) -π
When y> 0 and x = 0, atan2 (y, x) = π / 2
When y <0, x = 0, atan2 (y, x) = −π / 2
When y = 0 and x = 0, when atan2 (y, x) = undefined coordinate axis is rotated by the phase angle α, the coordinate axis rotates as shown by the alternate long and short dash line in FIG. 4A, and the real axis Re is the real axis. It becomes Re', and the imaginary axis Im becomes the imaginary axis Im'. As a result, on the real axis Re'and the imaginary axis Im' after rotation, only the real part of the excitation frequency component P (m) of the excitation signal remains (this is referred to as Pr'), and the imaginary part becomes 0. In addition, Pr'= Pr × cos α + Pi × sin α.
図５においては、図１と同様の構成に図１と同一の符号を付して示している。ここでは、図１と異なる構成について説明し、図１と同一の構成については説明を省略する。図５に示す電気角取得システム１００は、フーリエ変換によって励磁周波数成分を取得する励磁信号取得部２０を備えていない。むろん、電気角θeの算出以外の目的（例えば断線検出等）で励磁信号を電気角取得システム１００に入力しても良い。 In FIG. 5, the same configuration as in FIG. 1 is shown with the same reference numerals as those in FIG. Here, a configuration different from that of FIG. 1 will be described, and a description of the same configuration as that of FIG. 1 will be omitted. The electric angle acquisition system 100 shown in FIG. 5 does not include an excitation signal acquisition unit 20 that acquires an excitation frequency component by Fourier transform. Of course, the excitation signal may be input to the electric angle acquisition system 100 for a purpose other than the calculation of the electric angle θe (for example, disconnection detection).
Claims (17)
サンプリング周波数ｆ s 、サンプリング数Ｎ、励磁周波数ｆ r の少なくとも１個を設定するパラメータ設定部と、
アナログの前記励磁信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して励磁フーリエ信号を取得し、
２相のアナログの前記出力信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、前記出力フーリエ信号から式（１）におけるＸ（ｍ）に相当するデータを選択して前記出力信号の励磁周波数成分として取得する出力信号取得部と、
前記励磁信号の励磁周波数成分と、２相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
を備える電気角取得システム。 1-phase excitation An electric angle acquisition system that acquires the electric angle of the rotation detector based on the excitation signal and the output signal of the 2-phase output rotation detector.
A parameter setting unit which sets the sampling frequency f s, the sampling number N, at least one excitation frequency f r,
Converting the excitation signal of the analog to digital data by the N sampling at a sampling frequency f s, is Fourier transformed to get the excitation Fourier signal,
It converted into digital data by the N sampling the output signal of the analog two phases at the sampling frequency f s, is Fourier transformed to get the output Fourier signal, X in Formula (1) from the output Fourier signal (m ), And an output signal acquisition unit that selects and acquires the data corresponding to the excitation frequency component of the output signal.
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition unit that acquires the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
An electric angle acquisition system equipped with.
サンプリング周波数ｆ Sampling frequency f ss 、サンプリング数Ｎ、励磁周波数ｆ, Sampling number N, excitation frequency f rr の少なくとも１個を設定するパラメータ設定部と、Parameter setting unit that sets at least one of
アナログの前記励磁信号をサンプリング周波数ｆ Sampling frequency f of the analog excitation signal ss でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して励磁フーリエ信号を取得し、Converted to digital data by sampling N pieces with, and obtained the excitation Fourier signal by Fourier transform.
２相のアナログの前記出力信号をサンプリング周波数ｆ Sampling frequency f for the two-phase analog output signal ss でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、前記出力フーリエ信号から式（１）におけるＸ（ｍ）に相当するデータを選択して前記出力信号の励磁周波数成分として取得する出力信号取得部と、By sampling N pieces with, the data is converted into digital data, Fourier transformed to obtain the output Fourier signal, and the data corresponding to X (m) in the equation (1) is selected from the output Fourier signal to obtain the output Fourier signal. Output signal acquisition unit to acquire as excitation frequency component,
前記励磁信号の励磁周波数成分と、２相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部と、 A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal.
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部と、 An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、 An electric angle acquisition unit that acquires the electric angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal.
を備える電気角取得システム。An electric angle acquisition system equipped with.
請求項１または請求項２に記載の電気角取得システム。 The timing at which the excitation signal acquisition unit samples the excitation signal and the timing at which the output signal acquisition unit samples the two-phase output signal are simultaneous.
The electric angle acquisition system according to claim 1 or 2.
前記励磁信号取得部および前記出力信号取得部は、前記励磁信号をサンプリングするタイミングと２相の前記出力信号をサンプリングするタイミングとのずれに起因して、フーリエ変換後の前記励磁信号の励磁周波数成分および前記出力信号の励磁周波数成分に生じている位相のずれを補償して、前記前記励磁信号の励磁周波数成分および前記出力信号の励磁周波数成分を取得する、
請求項１〜請求項３のいずれかに記載の電気角取得システム。 The timing at which the excitation signal acquisition unit samples the excitation signal and the timing at which the output signal acquisition unit samples the two-phase output signal are different timings.
The excitation signal acquisition unit and the output signal acquisition unit have an excitation frequency component of the excitation signal after Fourier transform due to a difference between the timing of sampling the excitation signal and the timing of sampling the two-phase output signal. And, by compensating for the phase shift occurring in the excitation frequency component of the output signal, the excitation frequency component of the excitation signal and the excitation frequency component of the output signal are acquired.
The electric angle acquisition system according to any one of claims 1 to 3 .
一方の前記出力信号の励磁周波数成分における前記振幅の最大値が他方の前記出力信号の励磁周波数成分における前記振幅の最大値のｂ／ａ倍である場合、一方の前記出力信号の励磁周波数成分における前記振幅をａ／ｂ倍に補正するか、または、他方の前記出力信号の励磁周波数成分における前記振幅をｂ／ａ倍に補正する、
請求項１〜請求項４のいずれかに記載の電気角取得システム。 The amplitude acquisition unit
When the maximum value of the amplitude in the excitation frequency component of one of the output signals is b / a times the maximum value of the amplitude in the excitation frequency component of the other output signal, the excitation frequency component of one of the output signals The amplitude is corrected to a / b times, or the amplitude in the excitation frequency component of the other output signal is corrected to b / a times.
The electric angle acquisition system according to any one of claims 1 to 4 .
請求項５に記載の電気角取得システム。The electric angle acquisition system according to claim 5.
サンプリング周波数ｆ s 、サンプリング数Ｎ、励磁周波数ｆ r の少なくとも１個を設定するパラメータ設定工程と、
アナログの前記励磁信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して励磁フーリエ信号を取得し、
２相のアナログの前記出力信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、前記出力フーリエ信号から式（１）におけるＸ（ｍ）に相当するデータを選択して前記出力信号の励磁周波数成分として取得する出力信号取得工程と、
前記励磁信号の励磁周波数成分と、２相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得工程と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得工程と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得工程と、
を含む電気角取得方法。 1-phase excitation This is an electric angle acquisition method for acquiring the electric angle of the rotation detector based on the excitation signal and the output signal of the two-phase output rotation detector.
A parameter setting step of setting the sampling frequency f s, the sampling number N, at least one excitation frequency f r,
Converting the excitation signal of the analog to digital data by the N sampling at a sampling frequency f s, is Fourier transformed to get the excitation Fourier signal,
The two-phase analog output signal is converted into digital data by sampling N pieces at the sampling frequency f s , Fourier transformed to obtain the output Fourier signal, and X (m) in the equation (1) is obtained from the output Fourier signal. ), And the output signal acquisition step of selecting and acquiring the data corresponding to the excitation frequency component of the output signal.
A phase relationship acquisition step of acquiring the phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal.
An amplitude acquisition step of acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition step of acquiring the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
Electric angle acquisition method including.
サンプリング周波数ｆ s 、サンプリング数Ｎ、励磁周波数ｆ r の少なくとも１個を設定するパラメータ設定部、
アナログの前記励磁信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して励磁フーリエ信号を取得し、
２相のアナログの前記出力信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、前記出力フーリエ信号から式（１）におけるＸ（ｍ）に相当するデータを選択して前記出力信号の励磁周波数成分として取得する出力信号取得部、
前記励磁信号の励磁周波数成分と、２相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部、
として機能させる電気角取得プログラム。 A computer that acquires the electrical angle of the rotation detector based on the excitation signal and the output signal of the rotation detector with 1-phase excitation and 2-phase output.
Parameter setting unit for setting the sampling frequency f s, the sampling number N, at least one excitation frequency f r,
Converting the excitation signal of the analog to digital data by the N sampling at a sampling frequency f s, is Fourier transformed to get the excitation Fourier signal,
The two-phase analog output signal is converted into digital data by sampling N pieces at the sampling frequency f s , Fourier transformed to obtain the output Fourier signal, and X (m) in the equation (1) is obtained from the output Fourier signal. ) Is selected and acquired as the excitation frequency component of the output signal.
A phase relationship acquisition unit that acquires the phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal.
An electric angle acquisition unit that acquires an electric angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal.
An electric angle acquisition program that functions as.
サンプリング周波数ｆ s 、サンプリング数Ｎ、励磁周波数ｆ r の少なくとも１個を設定するパラメータ設定部と、
２相のアナログの前記出力信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、
前記励磁信号と、２相の前記出力信号とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
を備える電気角取得システム。 1-phase excitation An electric angle acquisition system that acquires the electric angle of the rotation detector based on the excitation signal and the output signal of the 2-phase output rotation detector.
A parameter setting unit which sets the sampling frequency f s, the sampling number N, at least one excitation frequency f r,
The two-phase analog output signal is converted into digital data by sampling N pieces at the sampling frequency f s , and the output Fourier signal is obtained by Fourier transform.
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition unit that acquires the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
An electric angle acquisition system equipped with.
サンプリング周波数ｆ s 、サンプリング数Ｎ、励磁周波数ｆ r の少なくとも１個を設定するパラメータ設定工程と、
２相のアナログの前記出力信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、
前記励磁信号と、２相の前記出力信号とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得工程と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得工程と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得工程と、
を含む電気角取得方法。 1-phase excitation This is an electric angle acquisition method for acquiring the electric angle of the rotation detector based on the excitation signal and the output signal of the two-phase output rotation detector.
A parameter setting step of setting the sampling frequency f s, the sampling number N, at least one excitation frequency f r,
The two-phase analog output signal is converted into digital data by sampling N pieces at the sampling frequency f s , and the output Fourier signal is obtained by Fourier transform.
A phase relationship acquisition step of acquiring the phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal.
An amplitude acquisition step of acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition step of acquiring the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
Electric angle acquisition method including.
サンプリング周波数ｆ s 、サンプリング数Ｎ、励磁周波数ｆ r の少なくとも１個を設定するパラメータ設定部と、
２相のアナログの前記出力信号をサンプリング周波数ｆ s でＮ個サンプリングすることでデジタルデータに変換し、フーリエ変換して出力フーリエ信号を取得し、
前記励磁信号と、２相の前記出力信号とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部、
として機能させる電気角取得プログラム。 A computer that acquires the electrical angle of the rotation detector based on the excitation signal and the output signal of the rotation detector with 1-phase excitation and 2-phase output.
A parameter setting unit which sets the sampling frequency f s, the sampling number N, at least one excitation frequency f r,
The two-phase analog output signal is converted into digital data by sampling N pieces at the sampling frequency f s , and the output Fourier signal is obtained by Fourier transform.
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal.
An electric angle acquisition unit that acquires an electric angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal.
An electric angle acquisition program that functions as.
前記回転検出器のロータに対して、シャフトまたはシャフトに連動して回転する部位が取り付けられたモータを制御するモータ制御部と、
メモリと、
前記メモリに取り込まれた前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得部と、
前記メモリに取り込まれた２相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部と、
前記励磁信号の励磁周波数成分と、２相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
前記ロータの回転角度に応じた信号を出力するエンコーダの出力に基づいて取得され、前記メモリに取り込まれた前記ロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部と、を備え、
前記メモリに対する前記励磁信号と、２相の前記出力信号と、前記ロータの機械角と、の取り込みは前記モータの回転を停止させずに実行される、
電気角取得特性測定システム。 1-phase excitation An electric angle acquisition characteristic measurement system that measures the characteristics for acquiring the electric angle of the rotation detector based on the excitation signal and output signal of the rotation detector with 2-phase output.
A motor control unit that controls a motor to which a shaft or a portion that rotates in conjunction with the shaft is attached to the rotor of the rotation detector.
With memory
An excitation signal acquisition unit that acquires the excitation frequency component of the excitation signal captured in the memory by Fourier transform, and
An output signal acquisition unit that acquires the excitation frequency component of the two-phase output signal captured in the memory by Fourier transform, and an output signal acquisition unit.
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition unit that acquires the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
Accuracy acquisition to acquire the accuracy of the electric angle of the rotation detector based on the mechanical angle of the rotor acquired based on the output of the encoder that outputs a signal corresponding to the rotation angle of the rotor and captured in the memory. With a department ,
Capturing the excitation signal to the memory, the two-phase output signal, and the mechanical angle of the rotor is performed without stopping the rotation of the motor.
Electrical angle acquisition characteristic measurement system.
前記回転検出器のロータに対して、シャフトまたはシャフトに連動して回転する部位が取り付けられたモータを制御するモータ制御工程と、
メモリに取り込まれた前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得工程と、
前記メモリに取り込まれた２相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得工程と、
前記励磁信号の励磁周波数成分と、２相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得工程と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得工程と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得工程と、
前記ロータの回転角度に応じた信号を出力するエンコーダの出力に基づいて取得され、前記メモリに取り込まれた前記ロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得工程とを含み、
前記メモリに対する前記励磁信号と、２相の前記出力信号と、前記ロータの機械角と、の取り込みは前記モータの回転を停止させずに実行される、
電気角取得特性測定方法。 1-phase excitation This is an electric angle acquisition characteristic measurement method for measuring the characteristic of acquiring the electric angle of the rotation detector based on the excitation signal and the output signal of the two-phase output rotation detector.
A motor control process that controls a motor in which a shaft or a portion that rotates in conjunction with the shaft is attached to the rotor of the rotation detector.
The excitation signal acquisition step of acquiring the excitation frequency component of the excitation signal captured in the memory by Fourier transform, and
An output signal acquisition step of acquiring the excitation frequency component of the two-phase output signal captured in the memory by Fourier transform, and
A phase relationship acquisition step of acquiring the phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal.
An amplitude acquisition step of acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition step of acquiring the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
Accuracy acquisition to acquire the accuracy of the electric angle of the rotation detector based on the mechanical angle of the rotor acquired based on the output of the encoder that outputs a signal corresponding to the rotation angle of the rotor and captured in the memory. Including the process
Capturing the excitation signal to the memory, the two-phase output signal, and the mechanical angle of the rotor is performed without stopping the rotation of the motor.
Electric angle acquisition characteristic measurement method.
前記回転検出器のロータに対して、シャフトまたはシャフトに連動して回転する部位が取り付けられたモータを制御するモータ制御部、
メモリに取り込まれた前記励磁信号の励磁周波数成分をフーリエ変換によって取得する励磁信号取得部、
前記メモリに取り込まれた２相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部、
前記励磁信号の励磁周波数成分と、２相の前記出力信号の励磁周波数成分とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部、
前記ロータの回転角度に応じた信号を出力するエンコーダの出力に基づいて取得され、前記メモリに取り込まれた前記ロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部、
として機能させ、
前記メモリに対する前記励磁信号と、２相の前記出力信号と、前記ロータの機械角と、の取り込みは前記モータの回転を停止させずに実行される、
電気角取得特性測定プログラム。 A computer that measures the characteristics of acquiring the electrical angle of the rotation detector based on the excitation signal and the output signal of the rotation detector with 1-phase excitation and 2-phase output.
A motor control unit that controls a motor to which a shaft or a portion that rotates in conjunction with the shaft is attached to the rotor of the rotation detector.
An excitation signal acquisition unit that acquires the excitation frequency component of the excitation signal captured in the memory by Fourier transform.
An output signal acquisition unit that acquires the excitation frequency component of the two-phase output signal captured in the memory by Fourier transform.
A phase relationship acquisition unit that acquires the phase relationship between the excitation signal and the two-phase output signal based on the excitation frequency component of the excitation signal and the excitation frequency component of the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal.
An electric angle acquisition unit that acquires an electric angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal.
Accuracy acquisition to acquire the accuracy of the electric angle of the rotation detector based on the mechanical angle of the rotor acquired based on the output of the encoder that outputs a signal corresponding to the rotation angle of the rotor and captured in the memory. Department,
To function as
Capturing the excitation signal to the memory, the two-phase output signal, and the mechanical angle of the rotor is performed without stopping the rotation of the motor.
Electrical angle acquisition characteristic measurement program.
前記回転検出器のロータに対して、シャフトまたはシャフトに連動して回転する部位が取り付けられたモータを制御するモータ制御部と、
メモリと、
前記メモリに取り込まれた２相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部と、
前記励磁信号と、２相の前記出力信号とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部と、
前記ロータの回転角度に応じた信号を出力するエンコーダの出力に基づいて取得され、前記メモリに取り込まれた前記ロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部と、
、を備え、
前記メモリに対する２相の前記出力信号と、前記ロータの機械角と、の取り込みは前記モータの回転を停止させずに実行される、
電気角取得特性測定システム。 1-phase excitation An electric angle acquisition characteristic measurement system that measures the characteristics for acquiring the electric angle of the rotation detector based on the excitation signal and output signal of the rotation detector with 2-phase output.
A motor control unit that controls a motor to which a shaft or a portion that rotates in conjunction with the shaft is attached to the rotor of the rotation detector.
With memory
An output signal acquisition unit that acquires the excitation frequency component of the two-phase output signal captured in the memory by Fourier transform, and an output signal acquisition unit.
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition unit that acquires the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
Accuracy acquisition to acquire the accuracy of the electric angle of the rotation detector based on the mechanical angle of the rotor acquired based on the output of the encoder that outputs a signal corresponding to the rotation angle of the rotor and captured in the memory. Department and
, Equipped with
The two-phase output signal to the memory and the mechanical angle of the rotor are captured without stopping the rotation of the motor.
Electrical angle acquisition characteristic measurement system.
前記回転検出器のロータに対して、シャフトまたはシャフトに連動して回転する部位が取り付けられたモータを制御するモータ制御工程と、
メモリに取り込まれた２相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得工程と、
前記励磁信号と、２相の前記出力信号とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得工程と、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得工程と、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得工程と、
前記ロータの回転角度に応じた信号を出力するエンコーダの出力に基づいて取得され、前記メモリに取り込まれた前記ロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得工程と、
を含み、
前記メモリに対する２相の前記出力信号と、前記ロータの機械角と、の取り込みは前記モータの回転を停止させずに実行される、
電気角取得特性測定方法。 1-phase excitation This is an electric angle acquisition characteristic measurement method for measuring the characteristic of acquiring the electric angle of the rotation detector based on the excitation signal and the output signal of the two-phase output rotation detector.
A motor control process that controls a motor in which a shaft or a portion that rotates in conjunction with the shaft is attached to the rotor of the rotation detector.
An output signal acquisition step of acquiring the excitation frequency component of the two-phase output signal captured in the memory by Fourier transform, and
A phase relationship acquisition step of acquiring the phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal.
An amplitude acquisition step of acquiring the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal, and
An electric angle acquisition step of acquiring the electric angle of the rotation detector based on the phase relationship and the amplitude of the output signal of the two phases.
Accuracy acquisition to acquire the accuracy of the electric angle of the rotation detector based on the mechanical angle of the rotor acquired based on the output of the encoder that outputs a signal corresponding to the rotation angle of the rotor and captured in the memory. Process and
Including
The two-phase output signal to the memory and the mechanical angle of the rotor are captured without stopping the rotation of the motor.
Electric angle acquisition characteristic measurement method.
前記回転検出器のロータに対して、シャフトまたはシャフトに連動して回転する部位が取り付けられたモータを制御するモータ制御部、
メモリに取り込まれた２相の前記出力信号の励磁周波数成分をフーリエ変換によって取得する出力信号取得部、
前記励磁信号と、２相の前記出力信号とに基づいて、前記励磁信号と２相の前記出力信号との位相の関係を取得する位相関係取得部、
２相の前記出力信号の励磁周波数成分に基づいて、２相の前記出力信号の振幅を取得する振幅取得部、
前記位相の関係と２相の前記出力信号の前記振幅とに基づいて、前記回転検出器の電気角を取得する電気角取得部、
前記ロータの回転角度に応じた信号を出力するエンコーダの出力に基づいて取得され、前記メモリに取り込まれた前記ロータの機械角に基づいて、前記回転検出器の電気角の精度を取得する精度取得部、
として機能させ、
前記メモリに対する２相の前記出力信号と、前記ロータの機械角と、の取り込みは前記モータの回転を停止させずに実行される、
電気角取得特性測定プログラム。 A computer that measures the characteristics of acquiring the electrical angle of the rotation detector based on the excitation signal and the output signal of the rotation detector with 1-phase excitation and 2-phase output.
A motor control unit that controls a motor to which a shaft or a portion that rotates in conjunction with the shaft is attached to the rotor of the rotation detector.
An output signal acquisition unit that acquires the excitation frequency component of the two-phase output signal captured in the memory by Fourier transform.
A phase relationship acquisition unit that acquires a phase relationship between the excitation signal and the two-phase output signal based on the excitation signal and the two-phase output signal.
An amplitude acquisition unit that acquires the amplitude of the two-phase output signal based on the excitation frequency component of the two-phase output signal.
An electric angle acquisition unit that acquires an electric angle of the rotation detector based on the phase relationship and the amplitude of the two-phase output signal.
Accuracy acquisition to acquire the accuracy of the electric angle of the rotation detector based on the mechanical angle of the rotor acquired based on the output of the encoder that outputs a signal corresponding to the rotation angle of the rotor and captured in the memory. Department,
To function as
The two-phase output signal to the memory and the mechanical angle of the rotor are captured without stopping the rotation of the motor.
Electrical angle acquisition characteristic measurement program.
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| PCT/JP2018/038316 WO2019093074A1 (en) | 2017-11-07 | 2018-10-15 | Electrical angle acquisition system, electrical angle acquisition method, electrical angle acquisition program, electrical angle acquisition characteristic measurement system, electrical angle acquisition characteristic measurement method, and electrical angle acquisition characteristic measurement program |
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| JP3914818B2 (en) * | 2002-05-22 | 2007-05-16 | 三菱電機株式会社 | Rotation angle detector |
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